An upset protrusion joining gun for joining two parts together by forging a protrusion of one part that extends through an opening in the other part to form a boss that extends over a portion of the other part surrounding the opening.

Nut plate grippers, end effectors that include nut plate grippers, robots that include end effectors, installation systems that include robots, and related methods are disclosed herein. The nut plate grippers are configured to grip a nut plate and include an attachment region, a first resilient projecting region, and a second resilient projecting region. The first resilient projecting region extends from the attachment region and defines a first nut plate-contacting end. The second resilient projecting region extends from the attachment region and defines a second nut plate-contacting end. The first resilient projecting region and the second resilient projecting region are configured to resiliently deflect toward one another to facilitate insertion of the first nut plate-contacting end and the second nut plate-contacting end between a pair of opposed plate flanges of a base plate of the nut plate. The methods include methods of gripping a nut plate utilizing the nut plate grippers.

Example valve stem and plug connections and example staking tools are described herein. An example apparatus includes a valve plug having a first side, a second side opposite the first side and a bore extending from the first side to the second side. A first portion of the bore is tapered from a first diameter to a second diameter smaller than the first diameter. A valve stem is disposed within the bore of the valve plug. The valve stem includes a first section, a second section and a third section between the first and second sections. The third section is tapered from a third diameter to a fourth diameter smaller than the third diameter. The tapers of the first portion of the valve plug and the third section of the valve stem, when engaged, create a frictional force that resists movement of the valve stem out of the bore.

Example valve stem and plug connections and example staking tools are described herein. An example apparatus includes a valve plug having a first side, a second side opposite the first side and a bore extending from the first side to the second side. A first portion of the bore is tapered from a first diameter to a second diameter smaller than the first diameter. A valve stem is disposed within the bore of the valve plug. The valve stem includes a first section, a second section and a third section between the first and second sections. The third section is tapered from a third diameter to a fourth diameter smaller than the third diameter. The tapers of the first portion of the valve plug and the third section of the valve stem, when engaged, create a frictional force that resists movement of the valve stem out of the bore.

A system and method for drilling a hole in a vehicle structure and installing a fastener in the hole. A drill plate having openings and associated machine-readable elements is positioned on the structure. A drill gun is positioned in a particular opening and reads hole information from the associated element, and a computer determines whether the drill gun is properly set-up to drill the hole. A fastener insertion gun is positioned in the particular opening and reads fastener information from the element, and the computer determines whether the hole has been drilled and, if so, whether the fastener insertion gun is properly set-up to insert the fastener. A fastener delivery subsystem stores, tracks, and delivers fasteners to the fastener insertion gun. A system computer monitors the drilling of every hole, the insertion of every fastener, and the overall operation of the fastener delivery subsystem.

A novel punch for riveting with reduced load on a shaft of a rivet is provided. Alternatively, a device that is disposed with a novel punch for riveting with reduced load on a shaft of a rivet is provided. Alternatively, a method for joining members using a novel punch for riveting with reduced load on a shaft of a rivet is provided. A punch for riveting according to an embodiment of present invention includes joining a first member having a convex part and a second member having a through hole fitting with the convex part by plastically deforming the convex part, wherein a contact surface with the convex part is inclined in a range of 80 to 89 with respect to a center axis.